Add full 3D MLS and carving

A new fusion operator that uses actual MLS of all sources combined with a visibility carving step. Next task is to construct a 4D scene model and fusion with that also.

components/renderers/cpp/include/ftl/render/CUDARender.hpp

@@ -58,6 +58,7 @@ class CUDARender : public ftl::render::FSRenderer {
 	ftl::cuda::TextureObject<float4> accum_;		// 2 is number of channels can render together
 	ftl::cuda::TextureObject<int> contrib_;
 	//ftl::cuda::TextureObject<half4> normals_;
+	cv::cuda::GpuMat colour_scale_;
 
 	std::list<cv::cuda::GpuMat*> screen_buffers_;
 	std::list<cv::cuda::GpuMat*> depth_buffers_;